adc_sim.launch 1.96 KB
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<?xml version="1.0"?>
<!-- -->
<launch>

  <arg name="output"                      default="screen"/>
  <arg name="launch_prefix"               default=""/>

  <arg name="world"                       default="empty"/>
  <arg name="gazebo_gui"                  default="True"/>
  <arg name="car_x"                       default="0.0"/>
  <arg name="car_y"                       default="0.0"/>
  <arg name="car_yaw"                     default="0.0"/>

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  <arg name="bodywork"                    default="False"/>
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  <arg name="model"                       default="$(find iri_model_car_description)/urdf/car.xacro" unless="$(arg bodywork)"/>
  <arg name="model"                       default="$(find iri_adc_description)/urdf/adc_car.xacro" if="$(arg bodywork)"/>


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  <include file="$(find iri_model_car_gazebo)/launch/sim.launch">
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    <arg name="name"                       value="adc_car"/>
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    <arg name="output"                     value="$(arg output)"/>
    <arg name="launch_prefix"              value="$(arg launch_prefix)"/>
    <arg name="world"                      value="$(arg world)"/>
    <arg name="gazebo_gui"                 value="$(arg gazebo_gui)"/>
    <arg name="car_x"                      value="$(arg car_x)"/>
    <arg name="car_y"                      value="$(arg car_y)"/>
    <arg name="car_yaw"                    value="$(arg car_yaw)"/>
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    <arg name="sim_config_path"            value="$(find iri_adc_launch)/config/adc_sim"/>
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    <arg name="model"                      value="$(arg model)"/>
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    <arg name="car_controller_config_file" value="$(find iri_adc_launch)/config/adc_sim/adc_controller_config.yaml"/>
    <arg name="control_config_file"        value="$(find iri_adc_launch)/config/adc_common/adc_control_config.yaml"/>
    <arg name="odometry_config_file"       value="$(find iri_adc_launch)/config/adc_common/adc_odometry_config.yaml"/>
    <arg name="cmd_vel_mux_config_file"    value="$(find iri_adc_launch)/config/adc_common/mux.yaml"/>
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  </include>

</launch>